CN112798012B - Speed and distance measuring device and method for train control vehicle-mounted equipment based on two-by-two architecture - Google Patents
Speed and distance measuring device and method for train control vehicle-mounted equipment based on two-by-two architecture Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/052—Linking several PLC's
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- G05B19/058—Safety, monitoring
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
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- G05B2219/00—Program-control systems
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- G05B2219/21—Pc I-O input output
- G05B2219/21137—Analog to digital conversion, ADC, DAC
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- G05B2219/22—Pc multi processor system
- G05B2219/2214—Multicontrollers, multimicrocomputers, multiprocessing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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Abstract
The invention discloses a speed and distance measuring device and method for train control vehicle-mounted equipment based on a two-by-two architecture, which comprises two speed and distance measuring boards with the same structure, wherein each speed and distance measuring board comprises two FPGAs (field programmable gate arrays), two MCUs (micro control units) and a signal acquisition circuit, and the two FPGAs simultaneously receive pulse signals and respectively complete self-detection; the MCU outputs a high-speed signal acquisition result based on the FPGA to obtain the running speed, direction and pressure information of the train; determining voting output signals of the two-out-of-two framework speed and distance measurement according to the information obtained in the step A4; and determining the output signal of the cracked empty vehicle-mounted equipment based on the voting output signal of the two-by-two architecture speed measurement and ranging. The two MCUs vote synchronously to obtain information such as train running speed, train running distance, train running direction and train pipe pressure and air pressure and transmit the information to the vehicle-mounted host, and the speed and distance measuring device not only meets the requirements on safety and reliability, but also meets the requirements on instantaneity and precision.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a speed and distance measuring device and method for train control vehicle-mounted equipment based on a two-by-two architecture.
Background
The speed and distance measuring device is one of important components of train control vehicle-mounted equipment, and the conventional speed and distance measuring device generally has the functions of detecting the speed, the running distance and the running direction of a train and processing speed and distance measuring errors caused by idling and slipping in a certain range. However, in the above functions of the speed and distance measuring device, the following disadvantages mainly exist:
(1) the speed and distance measuring function is completed by the speed and distance measuring unit and the vehicle-mounted host together, namely, in the prior art, the speed and distance measuring unit first completes speed, distance, direction calculation and the like, and then the safety platform function can be completed only by depending on a synchronous voting mechanism of the vehicle-mounted host.
(2) When the idle rotation/sliding of the detected wheel pair is detected, the instant distortion caused by external electromagnetic interference and the like cannot be effectively overcome, and the error judgment of the idle rotation/sliding is caused.
(3) In the adaptation process of a new vehicle type, the speed and distance measuring unit cannot effectively detect idling/sliding and calculate the correction speed, the error of the speed and distance measuring unit is large, and the adaptability to the new vehicle type is poor.
(4) The device has single function, can only complete the calculation of speed, distance and direction, and has low resource utilization rate.
Disclosure of Invention
The invention aims to provide a speed and distance measuring device and method for train control vehicle-mounted equipment based on a two-by-two architecture based on the problems in the prior art, which not only meet the requirements of safety and reliability, but also meet the requirements of real-time performance and precision.
The purpose of the invention is realized by the following technical scheme:
the technical scheme provided by the invention mainly has the following beneficial effects: 1) the invention aims to develop a universal speed and distance measuring device which can independently complete the speed and distance measuring function without depending on a synchronous voting mechanism of a vehicle-mounted host, so that the function is realized by independently adopting a two-by-two platform. Independently gather two pulse signals of installing rotational speed sensor on different axletrees, make full use of train accuse on-vehicle equipment speed measurement range unit's FPGA and MCU's self resource simultaneously, monitor train pipe pressure, a plurality of balanced reservoir pressure, brake cylinder pressure and total reservoir pressure signal, normal operating for the train provides data support and guarantee, 2 MCU synchronous voting function has, only just export in difference restrictive conditions when two MCU calculated results, the security of train operation has been improved, all components and parts adopt redundant structure design simultaneously, avoid leading to the stopping of train because of single equipment trouble, speed measurement range unit's reliability has greatly been improved. 2) Interference elimination processing can be carried out on the interference of electromagnetism and the like; 3) the adaptive parameters of the speed and distance measuring devices of different vehicle types and the actual running performance of the train can be combined, the idling/sliding condition is effectively detected, the running speed of the train during idling/sliding is subjected to self-adaptive correction processing, and the running speed and the running distance of the train meeting the error requirement range are obtained.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic diagram of a two-by-two architecture of a train control vehicle-mounted device speed measurement and distance measurement apparatus based on the two-by-two architecture according to an embodiment of the present invention;
fig. 2 is a schematic diagram of high-speed signal acquisition of a train control vehicle-mounted device speed and distance measuring method based on a two-by-two architecture according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a speed and distance measuring device and method for train control vehicle-mounted equipment based on a two-by-two architecture, wherein the speed and distance measuring device is composed of two speed and distance measuring board cards, one of the two speed and distance measuring board cards is used as a main device, the other one of the two speed and distance measuring board cards is used as an alternative device, and the structure of the speed and distance measuring board card is shown in figure 1. In the embodiment of the invention, all components are in accordance with the design of a redundant structure.
Hardware circuit structure
The hardware circuit shown in fig. 1 mainly includes a signal acquisition circuit and a signal processing circuit. Each FPGA and MCU in the hardware circuit meet the following conditions: the FPGA uses a chip CycloneV 5CEBA4F17, and the MCU uses a SHIYONGTMS5703137DZWTQQ1 singlechip; the MCU peripheral comprises 3 CAN interfaces; the SPI interface 1 path is used for a communication interface between two MCUs in a two-out-of-two architecture; and the EMIF protocol interface 1 is used for an external memory SDRAM expansion interface and an FPGA communication interface. During signal processing, FPGA programs run in parallel, pulse signals output by the speed sensor can be counted at the same time, multiple program tasks such as duty ratio and phase difference detection of the pulse signals are completed, the data processing process is stable, and program portability is high.
The signal acquisition circuit is used for acquiring speed signals and pressure signals of a plurality of positions, and the signal acquisition circuit at least comprises a speed pulse signal circuit and a pipe pressure current acquisition circuit.
The speed pulse signal circuit is composed of two groups of 8-path acquisition circuits in total, the speed detection sensor can be specifically a rotating speed sensor, the two rotating speed sensors are arranged on different axles, each sensor is provided with 4 paths of channels, 2 paths of channels are used as a group, and each path is independently acquired. Compared with the prior art that the train control vehicle-mounted equipment collects corresponding speed information by means of a single sensor, the train control vehicle-mounted equipment collects corresponding speed information by means of the single sensor, the signals of the two sensors are mutually referred, single-point faults can be avoided, the accuracy of signal collection of the speed and distance measuring device is improved, and the safety of train operation is further improved. The speed pulse signal circuit has a disconnection detection function, a successive comparison type ADC chip is used for receiving a signal of the speed pulse signal circuit, and the disconnection detection is completed by quickly detecting an input voltage value so as to judge whether the sensor is disconnected. The speed pulse signal circuit acquires signals of the rotating speed sensor, and the signals are transmitted to the FPGA circuit in real time after being input through filtering and optical coupling isolation.
The pipe pressure current acquisition circuit is composed of two groups of 10 paths of acquisition circuits in total and is used for acquiring pressure current signals of each key position, wherein the pressure signals at least comprise train pipe pressure, a plurality of balanced air cylinders, brake cylinder pressure and total air cylinder pressure, and each path of pressure current signals is independently acquired. Based on the device provided by the invention, the speed measuring and distance measuring device of the train-controlled vehicle-mounted equipment can be fully utilized to collect information except speed, compared with the prior art that the speed information is collected by singly using the speed measuring and distance measuring device of the train-controlled vehicle-mounted equipment, the invention concentrates the pressure information of each key position to be monitored in the running process of the train in one speed measuring and distance measuring device of the train-controlled vehicle-mounted equipment to realize, fully utilizes the self resources of the FPGA and the MCU of the speed measuring and distance measuring device of the train-controlled vehicle-mounted equipment, saves the running control cost of the whole train, simplifies the hardware structure of a train running control system, reduces the space occupied by the hardware equipment, in addition, monitors the pressure signal of each key position in the running process of the train, and determines the running state of the train, therefore, the monitoring signals of speed, distance and direction correspond to the running state, and train running data is provided. The tube voltage current acquisition circuit has a disconnection detection function. The output signal of the tube voltage current acquisition circuit is output to the FPGA through a signal conversion circuit, the signal conversion circuit comprises a current-voltage module and a resistor, the output signal of the tube voltage current acquisition circuit firstly passes through the current-voltage module, then passes through 1/2 series resistors for voltage division, is input into an ADC acquisition channel, and finally is output to the FPGA for comprehensive processing. The current signal output by the tube voltage current and the collected pressure value are in a linear relation, and the pressure measuring range can be ensured.
According to the speed and distance measuring device for the train control vehicle-mounted equipment, all components adopt redundant structures, if the components are damaged and line faults and other emergency conditions occur in the running process of a train, another speed and distance measuring plate can be started in time to collect and process signals in the running process, the train does not need to be stopped immediately to check and maintain the components, and the smooth running of the train is guaranteed.
The two-out-of-two framework comprises two MCUs and two FPGAs respectively, so that signals such as train speed and pressure collected by the sensor can reflect the channel condition in the former device, the two MCUs collect, process and vote the signals synchronously, the two MCU calculation results are output only in difference limiting conditions, if the two MCU calculation results are not in the difference limiting conditions, the fact that the actual operation of the train breaks down is judged, or the two MCU calculation results are caused by the self faults of the sensor, the two MCU calculation results are output to the vehicle-mounted host by adopting a fault safety principle, and the train operation safety is improved. Compared with the prior art that the train running state monitoring is completed by relying on the speed and distance measuring device and the vehicle-mounted host, the train running state monitoring method and the train running state monitoring system can complete the monitoring of the speed and other states by only utilizing a single speed and distance measuring device, and reduce the running burden of the vehicle-mounted host.
When a speed measuring and ranging board takes place because the reason such as the long-term maintenance that loses, jolt leads to the circumstances such as open circuit, the operation data of train still can be gathered by another speed measuring and ranging board and handle, real-time transmission to on-vehicle host computer to a certain extent, the cost and the manpower of hardware maintenance have been reduced on the one hand, on the other hand signal acquisition circuit has the broken string and detects the function, to the condition that a main spare element all breaks down, can in time send alarm information, so that the staff in time maintains components and parts, guarantee the safety that the train travel.
Based on the speed and distance measuring device for the train control vehicle-mounted equipment based on the two-by-two-out-of-two architecture as shown in fig. 1, the embodiment of the invention also provides a speed and distance measuring method for the train control vehicle-mounted equipment based on the two-by-two-out-of-two architecture, which is based on the device.
And step A1, the two FPGAs simultaneously receive pulse signals and respectively complete self-checking.
The process of the high-speed signal acquisition section is shown in fig. 2. The two FPGA can independently complete the self-checking function. And after any one path of speed pulse signal is abnormal, the phase difference and duty ratio judgment module of the corresponding speed pulse signal reports the abnormality. The self-checking process of each FPGA is as follows:
the self-checking is divided into two parts, namely internal logic self-checking based on uploaded data and duty ratio or phase difference detection. The internal logic self-check specifically comprises: and after the preset time, judging whether the FPGA passes the self-checking according to self-checking results in preset number of time windows, and if the number of the time windows with correct self-checking results is greater than the preset value, indicating that the FPGA passes the self-checking. And detecting the duty ratio or the phase difference by adopting a majority judgment method, and if the ratio of the number of cycles with incorrect duty ratio or phase difference in preset time exceeds a threshold value, considering that the duty ratio or the phase difference of the whole signal is wrong, and sending a duty ratio abnormality or phase difference abnormality mark.
Step A2, after two FPGAs respectively complete self-checking, obtaining information acquired by a signal acquisition circuit, periodically receiving pulse signal width range information sent by an MCU by the FPGA, in the ith period, receiving the pulse signal width range information sent by the MCU by the FPGA, when pulse counting is performed in the (i + 1) th period, if the pulse width of an input pulse signal is detected to meet the pulse signal width range information sent by the MCU, independently counting by the FPGA by adopting a multi-period measuring method, respectively executing a high-speed counting mode and a low-speed counting mode by taking actual sampling frequency as a boundary point, recording a count value of the whole period and a count value of a part of the whole period, and transmitting the two count values to the MCU; and if the pulse width of the input pulse signal does not meet the pulse signal width range information sent by the MCU, screening the speed pulse signal according to the signal occurrence frequency which does not meet the set normal pulse width range, thereby removing the interference of electromagnetism and the like. When the method is used for acquiring and detecting signals such as speed, pressure and the like, the electromagnetic interference existing in the running environment of the train is considered, the judgment process of the pulse width is added for screening out interference signals, and the instantaneous distortion caused by the external electromagnetic interference can be effectively overcome.
The information collected by the high-speed signal collecting circuit at least comprises speed pulse information, train pipe pressure, a plurality of balanced air cylinders, brake cylinder pressure and total air cylinder pressure. The FPGA acquires the acquired signals of all lines, and for the two paths, the acquired signals based on the two paths of components check the running state data of the train, so that the safety of data acquisition is improved.
And step A3, the two FPGAs for signal processing respectively transmit the high-speed signal acquisition result to the corresponding MCU through an EMIF bus protocol.
And step A4, the MCU outputs a high-speed signal acquisition result based on the FPGA to obtain the running speed and direction of the train, and the MCU outputs the high-speed signal acquisition result based on the FPGA to obtain information such as pipe pressure and the like.
Applying a logic processing link, firstly receiving speed and distance measuring parameter information aiming at different vehicle types sent by a vehicle-mounted host after each MCU is electrified, after the speed and distance measuring parameter information is successfully received, synchronously and periodically receiving a count value of a whole period and a count value of a part which is not more than the whole period sent by an FPGA (field programmable gate array), calculating the frequency of pulse signals from two rotating speed sensors, and obtaining the speed information of each measured wheel pair in the running process of the train based on the frequency of the pulse signals; calculating pulse signal width range information of the periodic speed pulse without idling/sliding or abnormality by combining the speed measuring and ranging parameters and sending the pulse signal width range information to the FPGA; and filtering process noise and measurement noise by adopting an adaptive Kalman filtering algorithm to obtain the speed and the acceleration of each measured wheel pair. Secondly, judging whether each tested wheel pair idles/slides based on the speed difference, the slip rate and the acceleration, wherein the speed difference is the difference of the speeds calculated by two rotating speed sensors, the slip rate is the percentage representation of the speed difference of the train running speed and the rotating speed sensor installation shaft and the train running speed, when 2 tested wheel pairs installed on different axles are detected to simultaneously idle/slide, the speed measuring and ranging device obtains the train speed by using an idle-slip compensation algorithm, the train correcting speed is obtained in a self-adaptive manner by combining the actual running performance of the train and the configured maximum acceleration/maximum deceleration, in the idle-slip correcting process, the measured speed and the corrected speed are compared in real time, if the measured value is smaller than the correcting value, the idle-slip recovery is indicated, the train continues to run by the measured value during the idle-slip recovery, and if the idle-slip is still detected after the correcting period, and giving alarm information, and otherwise, sliding. The method can not only prevent sudden change of speed, but also track and restore idling/sliding conditions in real time to adjust the train correction speed. And if no idle running/sliding of one shaft is detected or detected, adjusting the dynamic coefficient of the Federal Kalman algorithm in real time according to a preset rule, and performing data fusion on the measured speeds of the two measured wheel pairs to obtain the final train running speed.
The MCU linearly converts the information sampled by the ADC into pressure information of a train pipe, pressure information of a plurality of equalizing air cylinders, pressure information of a brake cylinder and pressure information of a total air cylinder, records the pressure information of each key point on line/off line in real time, displays and controls train operation, and meanwhile can store data for analysis and check.
And step A5, voting and outputting the two-out-of-two structure speed and distance measurement.
The two MCUs adopt a software task level synchronization mode to periodically interact respective calculation results, vote and output data, and adopt different voting strategies according to data types: digital quantity (such as direction information, parking information and the like) is directly judged by judging whether the calculation results are consistent, and analog quantity such as speed distance, pressure and the like is judged by giving difference limiting conditions to judge whether the data are abnormal. If the data voting is not passed, the MCU uploads fault information to the vehicle-mounted host and outputs the fault information by adopting a fault safety principle; otherwise, processing the respective calculation results of the two MCUs by using an interpolation and extrapolation algorithm to obtain the real-time running speed and the running distance of the train; and averaging to obtain the pressure of the train pipe, the pressures of the multiple equalizing air cylinders, the pressure of the brake cylinder and the total air cylinder.
And step A6, outputting the speed and distance measurement result of the two-by-two architecture to the train control vehicle-mounted equipment side.
And the MCU of the speed and distance measuring board transmits the voting result to the vehicle-mounted host through a CAN bus protocol.
The two speed and distance measuring board cards adopt a main-standby working mode, and the specific mode of determining the board card for signal processing is as follows: the method comprises the steps of obtaining mode identifications of two board cards, judging the identity of each board card based on the mode identifications, and determining the board cards to process signals based on the identity of each board card and the signal path state of a speed and distance measuring device of the train control vehicle-mounted equipment.
Specifically, whether each board card is a master board or a slave board is judged based on the mode identifier, the signal path state of the speed and distance measuring device of the train control vehicle-mounted equipment is obtained, if the signal paths from the master board card and the slave board card to the vehicle-mounted host side are both in the path state, the master board card is selected for signal processing, and if the two are both in the fault state, an alarm signal is triggered; if one of the two is in a fault state, the speed and distance measuring board card in the access state is selected to realize signal processing.
The row control vehicle-mounted equipment speed and distance measurement based on the two-by-two architecture adopts a redundant structure, two speed and distance measurement plates read collected signals, real-time operation parameter information is synchronously stored, and information such as speed distance, direction, pressure and the like is processed and transmitted to a vehicle-mounted host in a later period. If the main board card cannot complete the signal transmission of the second-out-of-two period or transmit the fault zone bit due to the sudden accident in the operation process, the standby speed measuring and distance measuring board can still complete the signal processing and transmission of the second-out-of-two period based on the data received by the sensor, so that the vehicle-mounted host can correctly receive the operation data of the period, the data loss of the vehicle-mounted host side is avoided, and the stable operation of the train is ensured.
The invention provides a universal speed and distance measuring device, which realizes the monitoring function of the running state of a train by singly adopting a two-by-two platform, so that the speed and distance measuring device can meet the SIL4 safety integrity level, the MCU synchronously votes the function, the calculation results of the two MCUs are output only when the calculation results of the two MCUs are within the difference limit condition, the running safety of the train is improved, meanwhile, all components adopt the redundancy structural design, the stop of the train caused by the failure of a single set of equipment is avoided, and the reliability of the speed and distance measuring device is greatly improved. In addition, the speed and distance measuring device integrates the functions of collecting the pressure of the train pipe, the pressure of a plurality of equalizing air cylinders, the pressure of a brake cylinder and the pressure of a total air cylinder, the running state of the train can be obtained according to the information such as the pressure while monitoring the information such as the speed and the direction, data support and guarantee are provided for the normal running of the train, the FPGA of the speed and distance measuring device of the train control vehicle-mounted equipment and the self resource of the MCU are fully utilized, the cost of the running control of the whole train is saved, the hardware architecture of a train running control system is simplified, and the space occupied by hardware equipment is reduced. The invention can carry out interference elimination on the signal according to the pulse width range, and improves the accuracy of the signal.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. The speed and distance measuring device of the train control vehicle-mounted equipment based on the two-by-two architecture is characterized by comprising two speed and distance measuring plates with the same structure, wherein each speed and distance measuring plate comprises a signal acquisition circuit and a signal processing circuit, the signal acquisition circuit and the signal processing circuit both adopt redundant structures,
the signal acquisition circuit comprises a speed pulse signal circuit and a tube voltage current acquisition circuit, and the speed pulse signal circuit and the tube voltage current acquisition circuit have a disconnection detection function;
the speed pulse signal circuit independently collects data of rotating speed sensors installed on different axles, and the pipe voltage current collecting circuit independently collects data of pressure sensors installed at key positions;
the signal processing circuit comprises two FPGAs and two MCUs, and the two FPGAs acquire information acquired by the signal acquisition circuit; the results are transmitted to the two MCUs after the FPGA high-speed signal acquisition processing, the two MCUs synchronously acquire, process and vote the signals, and the output signals of the speed and distance measuring device of the train control vehicle-mounted equipment are determined based on the voting results of the two MCUs;
wherein, MCU obtains train operating speed and direction based on FPGA output high speed signal acquisition result, specifically includes: the MCU calculates the frequency of pulse signals from different rotating speed sensors, and obtains the speed information of each measured wheel pair in the running process of the train based on the frequency of the pulse signals; and judging whether each detected wheel pair idles or slides based on the speed difference, the slip rate and the acceleration of the detected wheel pair, if the detected wheel pairs on different axles simultaneously idles or slides, calculating to obtain the train speed by utilizing idle-slip compensation, calculating the current correction speed of the train by combining the train running performance and the maximum acceleration or the maximum deceleration, and correcting the train running according to the correction speed.
2. A speed and distance measuring method for train control vehicle-mounted equipment based on a two-by-two architecture is characterized by comprising the following steps of: the train control vehicle-mounted equipment comprises two speed and distance measuring plates with the same structure, each speed and distance measuring plate comprises two FPGAs (field programmable gate arrays), two MCUs (micro control units) and a signal acquisition circuit, and the speed and distance measuring method of the train control vehicle-mounted equipment based on a two-by-two architecture specifically comprises the following steps:
step A1, two FPGAs simultaneously receive pulse signals and respectively complete self-checking;
step A2, after the two FPGAs respectively complete self-checking, acquiring information acquired by a signal acquisition circuit, and carrying out high-speed signal acquisition on the acquired signals by the FPGAs;
step A3, the FPGA transmits the high-speed signal acquisition result after signal processing to two MCUs through an EMIF bus protocol;
step A4, the MCU outputs a high-speed signal acquisition result based on the FPGA to obtain the running speed and direction of the train, and the MCU outputs the high-speed signal acquisition result based on the FPGA to obtain pressure information;
wherein, MCU obtains train operating speed and direction based on FPGA output high speed signal acquisition result, specifically includes: the MCU calculates the frequency of pulse signals from different rotating speed sensors, and obtains the speed information of each measured wheel pair in the running process of the train based on the frequency of the pulse signals; judging whether each detected wheel pair idles or slides based on the speed difference, the slip rate and the acceleration of the detected wheel pair, if the detected wheel pairs on different axles simultaneously idles or slides, calculating to obtain the train speed by utilizing idle-slip compensation, calculating the current correction speed of the train by combining the train running performance and the maximum acceleration or the maximum deceleration, and correcting the train running according to the correction speed;
step A5, determining a voting output result of two-by-two architecture speed measurement and ranging according to the information obtained in the step A4;
and A6, determining a speed and distance measuring result based on the two-by-two architecture and outputting the speed and distance measuring result to the train control vehicle-mounted equipment side.
3. The method of claim 2, wherein the method comprises: in the step a1, each FPGA periodically receives pulse signal width range information sent by the MCU, receives an input pulse signal, obtains the width range information of the input pulse signal, and if it is detected that the width range information of the pulse signal satisfies the pulse signal width range information sent by the MCU, the FPGA counts individually and transmits the count result to the MCU, otherwise, performs speed pulse signal screening according to the frequency of occurrence of a signal that does not conform to the pulse signal width range information sent by the MCU, thereby removing an interference signal.
4. The method as claimed in claim 3, wherein the method comprises: the FPGA single counting is multi-period measurement, a high-speed counting mode and a low-speed counting mode are respectively executed by taking actual sampling frequency as a demarcation point, and the counting of the whole period and the counting of the part which is less than the whole period are respectively recorded.
5. The train control on-board equipment speed and distance measuring method based on the two-by-two architecture as claimed in claim 2, wherein in the step a2, the information collected by the signal collecting circuit at least comprises a speed pulse signal, a train pipe pressure, an equalizing reservoir pressure, a brake cylinder pressure and a total reservoir pressure.
6. The method for measuring speed and distance of train control vehicle-mounted equipment based on two-by-two architecture as claimed in claim 2, wherein in the step a4, each of two MCUs obtains the speed and distance measuring parameter information of different vehicle types; each MCU synchronously and periodically receives the whole period count and the count of the part which is less than the whole period sent by the FPGA, calculates the frequency of pulse signals from different rotating speed sensors, and calculates the speed and the acceleration of each measured wheel pair based on the frequency of the pulse signals and the high-speed signal acquisition result processed by the FPGA.
7. The train control vehicle-mounted equipment speed and distance measuring method based on the two-by-two architecture as claimed in claim 6, wherein whether idling/sliding occurs is judged at least based on the speed and acceleration of each measured wheel pair; when 2 detected wheel pairs installed on different axles are detected to idle/slide at the same time, the speed measuring and distance measuring device obtains the train correction speed in a self-adaptive manner by combining the actual running performance of the train and the configured maximum acceleration/maximum deceleration, compares the measured speed with the correction speed in real time and adjusts the train correction speed; if no idle running/sliding of one shaft is detected or detected, adjusting the dynamic coefficient of the Federal Kalman algorithm in real time, and carrying out data fusion on the measured speeds of two measured wheel pairs to obtain the final train running speed; and the MCU linearly converts the information sampled by the ADC into train pipe pressure, balanced air cylinder pressure, brake cylinder pressure and total air cylinder pressure information.
8. The train control vehicle-mounted device speed and distance measuring method based on two-by-two architecture as claimed in claim 6, wherein in the step a5, two MCUs periodically interact with each other to vote and output the calculation result, and different comparison strategies are adopted according to the data type of the calculation result: and if the data type of the calculation result is the digital quantity, voting is carried out according to whether the calculation result is consistent, and if the data type of the calculation result is the analog quantity, judging whether the data is abnormal or not by giving a difference limiting condition, and voting is carried out according to an abnormal judgment result.
9. The method for speed and distance measurement of train control vehicle-mounted equipment based on two-by-two architecture as claimed in claim 8, wherein the step a6 specifically includes: if the data voting is not passed, the MCU uploads fault information to the vehicle-mounted host computer, and an output signal is determined according to a fault safety principle; otherwise, calculating the train running speed and the running distance by utilizing an interpolation extrapolation algorithm to respectively calculate the two MCUs to obtain the real-time train running speed and the running distance; and averaging to obtain the pressure of the train pipe, the pressures of the multiple equalizing air cylinders, the pressure of the brake cylinder and the total air cylinder.
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